2 * CAN driver for PEAK System micro-CAN based adapters
4 * Copyright (C) 2003-2011 PEAK System-Technik GmbH
5 * Copyright (C) 2011-2013 Stephane Grosjean <s.grosjean@peak-system.com>
7 * This program is free software; you can redistribute it and/or modify it
8 * under the terms of the GNU General Public License as published
9 * by the Free Software Foundation; version 2 of the License.
11 * This program is distributed in the hope that it will be useful, but
12 * WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
14 * General Public License for more details.
19 /* uCAN commands opcodes list (low-order 10 bits) */
20 #define PUCAN_CMD_NOP 0x000
21 #define PUCAN_CMD_RESET_MODE 0x001
22 #define PUCAN_CMD_NORMAL_MODE 0x002
23 #define PUCAN_CMD_LISTEN_ONLY_MODE 0x003
24 #define PUCAN_CMD_TIMING_SLOW 0x004
25 #define PUCAN_CMD_TIMING_FAST 0x005
26 #define PUCAN_CMD_FILTER_STD 0x008
27 #define PUCAN_CMD_TX_ABORT 0x009
28 #define PUCAN_CMD_WR_ERR_CNT 0x00a
29 #define PUCAN_CMD_SET_EN_OPTION 0x00b
30 #define PUCAN_CMD_CLR_DIS_OPTION 0x00c
31 #define PUCAN_CMD_END_OF_COLLECTION 0x3ff
33 /* uCAN received messages list */
34 #define PUCAN_MSG_CAN_RX 0x0001
35 #define PUCAN_MSG_ERROR 0x0002
36 #define PUCAN_MSG_STATUS 0x0003
37 #define PUCAN_MSG_BUSLOAD 0x0004
38 #define PUCAN_MSG_CAN_TX 0x1000
40 /* uCAN command common header */
41 struct __packed pucan_command {
42 __le16 opcode_channel;
46 #define PUCAN_TSLOW_BRP_BITS 10
47 #define PUCAN_TSLOW_TSGEG1_BITS 8
48 #define PUCAN_TSLOW_TSGEG2_BITS 7
49 #define PUCAN_TSLOW_SJW_BITS 7
51 #define PUCAN_TSLOW_BRP_MASK ((1 << PUCAN_TSLOW_BRP_BITS) - 1)
52 #define PUCAN_TSLOW_TSEG1_MASK ((1 << PUCAN_TSLOW_TSGEG1_BITS) - 1)
53 #define PUCAN_TSLOW_TSEG2_MASK ((1 << PUCAN_TSLOW_TSGEG2_BITS) - 1)
54 #define PUCAN_TSLOW_SJW_MASK ((1 << PUCAN_TSLOW_SJW_BITS) - 1)
56 /* uCAN TIMING_SLOW command fields */
57 #define PUCAN_TSLOW_SJW_T(s, t) (((s) & PUCAN_TSLOW_SJW_MASK) | \
59 #define PUCAN_TSLOW_TSEG2(t) ((t) & PUCAN_TSLOW_TSEG2_MASK)
60 #define PUCAN_TSLOW_TSEG1(t) ((t) & PUCAN_TSLOW_TSEG1_MASK)
61 #define PUCAN_TSLOW_BRP(b) ((b) & PUCAN_TSLOW_BRP_MASK)
63 struct __packed pucan_timing_slow {
64 __le16 opcode_channel;
66 u8 ewl; /* Error Warning limit */
67 u8 sjw_t; /* Sync Jump Width + Triple sampling */
68 u8 tseg2; /* Timing SEGment 2 */
69 u8 tseg1; /* Timing SEGment 1 */
71 __le16 brp; /* BaudRate Prescaler */
74 #define PUCAN_TFAST_BRP_BITS 10
75 #define PUCAN_TFAST_TSGEG1_BITS 5
76 #define PUCAN_TFAST_TSGEG2_BITS 4
77 #define PUCAN_TFAST_SJW_BITS 4
79 #define PUCAN_TFAST_BRP_MASK ((1 << PUCAN_TFAST_BRP_BITS) - 1)
80 #define PUCAN_TFAST_TSEG1_MASK ((1 << PUCAN_TFAST_TSGEG1_BITS) - 1)
81 #define PUCAN_TFAST_TSEG2_MASK ((1 << PUCAN_TFAST_TSGEG2_BITS) - 1)
82 #define PUCAN_TFAST_SJW_MASK ((1 << PUCAN_TFAST_SJW_BITS) - 1)
84 /* uCAN TIMING_FAST command fields */
85 #define PUCAN_TFAST_SJW(s) ((s) & PUCAN_TFAST_SJW_MASK)
86 #define PUCAN_TFAST_TSEG2(t) ((t) & PUCAN_TFAST_TSEG2_MASK)
87 #define PUCAN_TFAST_TSEG1(t) ((t) & PUCAN_TFAST_TSEG1_MASK)
88 #define PUCAN_TFAST_BRP(b) ((b) & PUCAN_TFAST_BRP_MASK)
90 struct __packed pucan_timing_fast {
91 __le16 opcode_channel;
94 u8 sjw; /* Sync Jump Width */
95 u8 tseg2; /* Timing SEGment 2 */
96 u8 tseg1; /* Timing SEGment 1 */
98 __le16 brp; /* BaudRate Prescaler */
101 /* uCAN FILTER_STD command fields */
102 #define PUCAN_FLTSTD_ROW_IDX_BITS 6
104 struct __packed pucan_filter_std {
105 __le16 opcode_channel;
108 __le32 mask; /* CAN-ID bitmask in idx range */
111 /* uCAN WR_ERR_CNT command fields */
112 #define PUCAN_WRERRCNT_TE 0x4000 /* Tx error cntr write Enable */
113 #define PUCAN_WRERRCNT_RE 0x8000 /* Rx error cntr write Enable */
115 struct __packed pucan_wr_err_cnt {
116 __le16 opcode_channel;
119 u8 tx_counter; /* Tx error counter new value */
120 u8 rx_counter; /* Rx error counter new value */
125 /* uCAN SET_EN/CLR_DIS _OPTION command fields */
126 #define PUCAN_OPTION_ERROR 0x0001
127 #define PUCAN_OPTION_BUSLOAD 0x0002
128 #define PUCAN_OPTION_CANDFDISO 0x0004
130 struct __packed pucan_options {
131 __le16 opcode_channel;
137 /* uCAN received messages global format */
138 struct __packed pucan_msg {
145 /* uCAN flags for CAN/CANFD messages */
146 #define PUCAN_MSG_SELF_RECEIVE 0x80
147 #define PUCAN_MSG_ERROR_STATE_IND 0x40 /* error state indicator */
148 #define PUCAN_MSG_BITRATE_SWITCH 0x20 /* bitrate switch */
149 #define PUCAN_MSG_EXT_DATA_LEN 0x10 /* extended data length */
150 #define PUCAN_MSG_SINGLE_SHOT 0x08
151 #define PUCAN_MSG_LOOPED_BACK 0x04
152 #define PUCAN_MSG_EXT_ID 0x02
153 #define PUCAN_MSG_RTR 0x01
155 struct __packed pucan_rx_msg {
169 /* uCAN error types */
170 #define PUCAN_ERMSG_BIT_ERROR 0
171 #define PUCAN_ERMSG_FORM_ERROR 1
172 #define PUCAN_ERMSG_STUFF_ERROR 2
173 #define PUCAN_ERMSG_OTHER_ERROR 3
174 #define PUCAN_ERMSG_ERR_CNT_DEC 4
176 struct __packed pucan_error_msg {
187 #define PUCAN_BUS_PASSIVE 0x20
188 #define PUCAN_BUS_WARNING 0x40
189 #define PUCAN_BUS_BUSOFF 0x80
191 struct __packed pucan_status_msg {
200 /* uCAN transmitted message format */
201 #define PUCAN_MSG_CHANNEL_DLC(c, d) (((c) & 0xf) | ((d) << 4))
203 struct __packed pucan_tx_msg {
215 /* build the cmd opcode_channel field with respect to the correct endianness */
216 static inline __le16 pucan_cmd_opcode_channel(struct peak_usb_device *dev,
219 return cpu_to_le16(((dev->ctrl_idx) << 12) | ((opcode) & 0x3ff));
222 /* return the channel number part from any received message channel_dlc field */
223 static inline int pucan_msg_get_channel(struct pucan_rx_msg *rm)
225 return rm->channel_dlc & 0xf;
228 /* return the dlc value from any received message channel_dlc field */
229 static inline int pucan_msg_get_dlc(struct pucan_rx_msg *rm)
231 return rm->channel_dlc >> 4;
234 static inline int pucan_ermsg_get_channel(struct pucan_error_msg *em)
236 return em->channel_type_d & 0x0f;
239 static inline int pucan_stmsg_get_channel(struct pucan_status_msg *sm)
241 return sm->channel_p_w_b & 0x0f;